• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.9 no.4
• /
• pp.333-338
• /
• 2009

This paper presents a task-based analysis on the number of independent robotic fingers required for compliant manipulations. Based on the stiffness relation between operational space and fingertip space of a multi-fingered object manipulating system, we describe a technique for modulation of the fingertip stiffness without inter-finger coupling so as to achieve the desired stiffness specified in the operational space. Thus, we provides a guide line how many fingers are basically required for successful multi-fingered compliant tasks. Consequently, this paper enables us to assign effectively the number of fingers for various compliant manipulations by robot hands.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10a
• /
• pp.932-938
• /
• 1987

The dynamic equations of robotic manipulators can be derived from either Newton-Euler equation or Lagrangian equation. Model parameters which appear in the resulting dynamic equation are the nonlinear functions of both the inertial parameters and the geometric parameters of robotic manipulators. The identification of the model parameters is important for advanced robot control. In the previous methods for the identification of the model parameters, the geometric parameters are required to be predetermined, or the robotic manipulators are required to follow some special motions. In this paper, we propose an approach to the identification of the model parameters, in which prior knowledge of the geometric parameters is not necessary. We show that the estimation equation for the model parameters can be formulated in an upper block triangular form. Utilizing the special structures, we obtain a simplified least-square estimation algorithm for the model parameter identification. To illustrate the practical use of our method, a 4DOF SCARA robot is examined.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.594-597
• /
• 2005

In this paper, I-PDA controller based on Coefficient Diagram Method incorporating feedforward controller is applied by robotic manipulators. Robotic manipulator models contain uncertain elements, which are not known exactly. Therefore, the dynamics of robotic manipulators are generally classified as uncertain dynamic system. The controller considered for the robotic manipulators need to move payloads of different masses from one point to another with good balance of the stability and response, consequently we propose I-PDA controller based on Coefficient Diagram Method incorporating FFC. The effectiveness of the controller for different system type of robotic manipulators is demonstrated by the simulation results.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2448-2450
• /
• 2005

A robotic external fixation system for the surgery of bone deformity correction was developed to simulate the execution process of mal-unioned femur by the adjustment of the joints of the fixation system. An inverse kinematics analysis algorithm was developed to calculate the necessary rotations and translations at each joint of the robotic system. The computer graphic model was developed for validation of the analysis result and visualization of the surgical process. For given rotational and angular deformity case, the surgical execution process using the robotic system was well matched with the pre-operative planning. The final residual rotational deformities were within $1.0^{\circ}{\sim}1.6^{\circ}$ after surgical correction process. The presented robotic system with computer-aided planning can be useful for knowledge-based fracture treatment and bone deformity correction under external fixation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.96.4-96
• /
• 2001

A remote controlled robotic system using the Internet is proposed in this paper. The robotic system can for example act as a substitute for a child who is staying in a hospital. Using the proposed robotic system, the bedridden child can easily look around the inside of his/her classroom, and can talk to other people. The proposed robotic system will encourage a bedridden child to maintain his/her study habits. The robotic system has a CCD camera, a speaker, a microphone, and a PC display on the robot main body. An operator also has a CCD camera, a microphone, and a PC display on the operator desk. The two personal computers are connected using the Internet ...

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.2
• /
• pp.7-16
• /
• 2002

• Proceedings of the KIEE Conference
• /
• 2008.10b
• /
• pp.68-70
• /
• 2008

Since the beginning of the 21st century, the emergence of innovative technologies made further advances in minimal access surgery possible. Robotic surgery and telepresence surgery effectively addressed the limitations of laparoscopic procedures, thus revolutionizing minimal access surgery. Surgical robots provide surgeons with to technologically advanced vision and hand skills. As a result, such systems are expected to revolutionize the field of surgery. In that time, much progress has been made in integrating robotic technologies with surgical instrumentation. However, robotic surgery will not only require special training, but it will also change the existing surgical training pattern and reshape the learning curve by offering new solutions, such as robotic surgical simulators and robotic telementoring. This article provides an introduction to medical robotic technologies, develops a possible classification, reviews the evolution of a surgical robot, and discusses future prospects for innovation. In the future, surgical robots should be smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies from a number of different fields. We believe that, in the near future as robotic technology continues to develop, almost all kinds of endoscopic surgery will be performed by this technology.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.3
• /
• pp.266-271
• /
• 2015

This paper presents the driving and bouncing control of a robotic vehicle for entertainment and transportation. The robotic vehicle is aimed to carry two passengers with a balancing mechanism by two wheels. To maximize the entertaining purpose, not only the balancing control performance but the bouncing control performance is implemented. Passengers can select different driving modes such as regular driving mode, balancing mode, and bouncing mode. Experimental studies of the balancing control performance as well as the bouncing control performance are conducted to see the feasibility as an entertainment robotic vehicle.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.8
• /
• pp.799-803
• /
• 2010

Recently, there is a rising interest on studying bio-inspired robotic fish because of real fish's great maneuverability and high energy efficiency. However, the researches about the robotic fish have not been done so much and there are still lots of problems to use them in the real environment such as in the river. This paper describes a bio-inspired robotic fish 'Ichthus' which is developed in KITECH and has 3 DOF propulsive mechanism. We develop the dynamic motion equation of 'Ichthus' in the underwater environment and analyze response characteristics of 'Ichthus' according to the input parameters of tail fin's amplitude and oscillation frequency. Then we propose control parameters at the various velocities. These parameters are useful to increase energy efficiency and it can be used when the fish robot moves in the real environment, for example, we can propose proper amplitude and oscillation frequency when the fish robot passes through the narrow space between obstacles.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.8
• /
• pp.688-695
• /
• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.